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Account for Gimbal lock in panning

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Grant Sanderson 2024-08-05 16:58:03 -05:00
parent 2b6ec2d95f
commit b45c71d3c2
1 changed files with 19 additions and 9 deletions
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28
manimlib/camera/camera_frame.py
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@ -1,6 +1,7 @@
from __future__ import annotations from __future__ import annotations
import math import math
import warnings
import numpy as np import numpy as np
from scipy.spatial.transform import Rotation from scipy.spatial.transform import Rotation
@ -9,8 +10,10 @@ from pyrr import Matrix44
from manimlib.constants import DEGREES, RADIANS from manimlib.constants import DEGREES, RADIANS
from manimlib.constants import FRAME_SHAPE from manimlib.constants import FRAME_SHAPE
from manimlib.constants import DOWN, LEFT, ORIGIN, OUT, RIGHT, UP from manimlib.constants import DOWN, LEFT, ORIGIN, OUT, RIGHT, UP
from manimlib.constants import PI
from manimlib.mobject.mobject import Mobject from manimlib.mobject.mobject import Mobject
from manimlib.utils.space_ops import normalize from manimlib.utils.space_ops import normalize
from manimlib.utils.simple_functions import clip
from typing import TYPE_CHECKING from typing import TYPE_CHECKING
@ -62,9 +65,16 @@ class CameraFrame(Mobject):
def get_euler_angles(self) -> np.ndarray: def get_euler_angles(self) -> np.ndarray:
orientation = self.get_orientation() orientation = self.get_orientation()
if all(orientation.as_quat() == [0, 0, 0, 1]): if np.isclose(orientation.as_quat(), [0, 0, 0, 1]).all():
return np.zeros(3) return np.zeros(3)
return orientation.as_euler(self.euler_axes)[::-1] with warnings.catch_warnings():
warnings.simplefilter('ignore', UserWarning) # Ignore UserWarnings
angles = orientation.as_euler(self.euler_axes)[::-1]
# Handle Gimble lock case
if np.isclose(angles[1], 0, atol=1e-2):
angles[0] = angles[0] + angles[2]
angles[2] = 0
return angles
def get_theta(self): def get_theta(self):
return self.get_euler_angles()[0] return self.get_euler_angles()[0]
@ -134,16 +144,16 @@ class CameraFrame(Mobject):
def increment_euler_angles( def increment_euler_angles(
self, self,
dtheta: float | None = None, dtheta: float = 0,
dphi: float | None = None, dphi: float = 0,
dgamma: float | None = None, dgamma: float = 0,
units: float = RADIANS units: float = RADIANS
): ):
angles = self.get_euler_angles() angles = self.get_euler_angles()
for i, value in enumerate([dtheta, dphi, dgamma]): new_angles = angles + np.array([dtheta, dphi, dgamma]) * units
if value is not None: new_angles[1] = clip(new_angles[1], 0, PI) # Limit range for phi
angles[i] += value * units new_rot = Rotation.from_euler(self.euler_axes, new_angles[::-1])
self.set_euler_angles(*angles) self.set_orientation(new_rot)
return self return self
def set_euler_axes(self, seq: str): def set_euler_axes(self, seq: str):